Robust Control Approach of SISO Coupled Tank System

Abstract

This paper presents the design principles of sliding mode controller, which is implemented in the coupled tank system. The Sliding Mode Control (SMC) controller exhibited a robust stability which can overcome nonlinearities, reduce disturbances and noise that occur in the coupled tank system. The work start with mathematical modelling the coupled tank system using second order single input single output (SISO) technique. Then, the sliding mode controller design began by deriving the sliding surface according to the second order coupled tank system. The control variables in this system, which are C1 and C2 are manipulated to obtain the best performances of the SMC. From the simulations, the performances characteristic of the SMC is analysed and investigated. The output response is obtained by implementing the SMC on the plant and compared with the proportional, integral, and derivative (PID) controller as a benchmarked controller. The results show that the robust SMC has better output response compared to the PID controller.